We consider two modified versions of the laser-grasp domain as suggested in [1]}. In this domain, a planar robot manipulator must locate and proceed towards a round puck. The state space is the position of the manipulator's end-effector relative to a grasping point defined directly in front of the puck. Though the end-effector position is assumed to be known completely, the state is not directly observed since the puck position is unknown. Its position can be determined using the laser range finder that points out as a horizontal line from the end-effector. The underlying system dynamics is
\(f(\textbf {x}_t,\textbf {u}_t) = \textbf {x}_t \ + \ \textbf {u}_t\) 
